CN106903670B - Teaching apparatus, robot control device and control method - Google Patents
Teaching apparatus, robot control device and control method Download PDFInfo
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- CN106903670B CN106903670B CN201710144235.1A CN201710144235A CN106903670B CN 106903670 B CN106903670 B CN 106903670B CN 201710144235 A CN201710144235 A CN 201710144235A CN 106903670 B CN106903670 B CN 106903670B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention patent discloses a kind of robot traction teaching inductor, teaching apparatus, robot control device and control method, and wherein robot traction teaching inductor includes shell, the handle in shell, cooperates to generate several switches of control signal with handle；Teaching apparatus, robot control device further comprise posture retainer, can be adjusted by the position that three-dimensional draws teaching inductor to robot in real time that aids in of three motors so that teaching inductor keeps posture constant；And above-mentioned teaching apparatus, the control method of robot control device when specific operation are additionally provided；Teaching apparatus or robot control device simple in structure and low in cost of the invention, device is versatile, is applicable to the not very high industrial machinery people teaching of speed, required precision or operation.
Description
Technical field
The present invention relates to Robot Design field, especially a kind of robot teaching technology.The traction of robot can be achieved
Teaching.
Present invention simultaneously relates to the Robot Control Technologies in Robot Design field.
Background technique
The teaching of industrial robot mainly uses teaching box at present, is observed by the eyes of operator, commands machine with key
Device human action reaches viewer believes that starting computer for robot end's each point coordinate record after suitable position and posture
Get off, reappears teaching movement automatically further according to record data when work.It, can not simple essence with the robot of the mode of operation
More complicated track really is recorded, teaching takes a long time, and more demanding to operator.
It is known as traction teaching in a manner of directly dragging the teaching of robot end realization robot motion.It is straight to draw teaching
See, be accurate, conveniently, but needing the movement usually to sense traction using six-dimension force sensor so that teaching apparatus at
Originally it greatly increases.Therefore it is not also used on a large scale.
Disclosing respectively application No. is 00119275.2,201320489386.8 Chinese patent application directly to drag
The robot of teaching, main embodiment is that improvement is designed on robot body, in the feelings without additional pulling equipment
It can guarantee that hand traction machine people runs under condition.The method is applicable in small load lightweight robotic, but for heavy load, knot
The robot of structure complexity is difficult to realize.
Application No. is 201420579247.9 Chinese patent applications to disclose a kind of manipulator teaching 3D sensing handle, peace
Finger tip operator loaded on manipulator holds 3D and senses handle hitching machinery hand, and tractive force is transmitted on microswitch, controls machine
Tool hand follows movement.Though this method can realize the movement of manipulator, when the non-vertical posture of manipulator finger tip, operator's
Lead feels not meeting proper motion direction, be easy to cause maloperation.
In conclusion studying a kind of low cost, realize that simply the direct teaching apparatus of strong flexibility is of great significance.
Summary of the invention
In order to improve industrial robot teaching process, the visual sense of operator, the present invention are mentioned when enhancing robot is drawn
A kind of robot traction teaching inductor has been supplied, can have been designed by structure and intuitively draw teaching or traction behaviour to operator
The feedback of work, and simple in structure and low in cost.
It, can be further meanwhile the present invention also provides the teaching apparatus for using above-mentioned inductor and robot control device
Realization inductor attitude-adaptive adjustment, reduce maloperation.
Meanwhile the present invention also provides the control methods of above-mentioned teaching apparatus and robot control device, can pass through control
The design of method processed further realizes the feedback of intuitive traction teaching or draw operations in conjunction with by man-controlled mobile robot, and can
It embodies teaching apparatus and robot control device and robot compound action feedback can be realized by the design of simple structure
Advantage.
In order to achieve the above objectives, following technical solution can be used in robot traction teaching inductor of the present invention:
A kind of robot traction teaching inductor, handle, several switches including shell, in shell, the handle
Including four handlebars, and " ten " font is collectively formed in four handlebars, and each handle includes top surface, bottom surface, first
Side, second side；The top surface of each handle, first side, one is equipped on the outside of second side corresponding is opened bottom surface
It closes, and the top surface of each handle, bottom surface, first side, second side are born against on the button to inductive switch.
Having the beneficial effect that for the traction teaching inductor can be with by " ten " font handle and several switches being correspondingly arranged
Intuitively draw the feedback of teaching or draw operations to operator from the cooperation of different switches by each handlebar；And it adopts
Element, including shell, handle and switch are low-cost element, keep the overall cost of the traction teaching inductor low
It is honest and clean, easily fabricated and popularization.
Following technical solution can be used in teaching apparatus of the present invention:
Teaching apparatus including above-mentioned robot traction teaching inductor further includes to carry robot traction teaching sense
The posture retainer of device is answered, the posture retainer includes first motor, the second motor, third motor, fixed first motor
First support, the second support for fixing the second motor, fixed third motor third bracket, and the output shaft of first motor, the
Output shaft, the output shaft of third motor of two motors are mutually orthogonal, output shaft and robot the traction teaching induction of first motor
Device connection is simultaneously rotated with mobile robot traction teaching inductor, and the output shaft of the second motor connect with first support and drives first
Holder pivots, the output shaft of third motor connect with second support and second support are driven to rotate.
Wherein, which further comprises posture retainer, can aid in three-dimensional side by three motors
To in real time to robot traction teaching inductor position be adjusted so that teaching inductor keep posture it is constant so that
Traction can be kept to be accustomed to when artificial traction, more meet ergonomics needs.
The teaching apparatus can be used for the teaching of complicated teaching track compared to teaching box teaching, and can accomplish hand handle
Hand teaching, teaching personnel are not necessarily to special training.And compared to the multi-dimension force sensor for drawing teaching, have economical and practical etc. excellent
Point, device is versatile, is applicable to the not very high industrial machinery people teaching of speed, required precision.
Following technical solution can be used in robot control device of the present invention:
Robot control device including above-mentioned robot traction teaching inductor further includes to carry robot traction
The posture retainer of teaching inductor, the posture retainer include first motor, the second motor, third motor, fix first
The first support of motor, the second support for fixing the second motor, the third bracket for fixing third motor, and the output of first motor
Axis, the output shaft of the second motor, the output shaft of third motor are mutually orthogonal, and the output shaft and robot of first motor draw teaching
Inductor connection is simultaneously rotated with mobile robot traction teaching inductor, and the output shaft of the second motor connect and drives with first support
First support rotation, the output shaft of third motor connect with second support and second support are driven to rotate.
Wherein, which equally contains attitude controller, the beneficial effect of beneficial effect and teaching apparatus
Fruit is identical, and different from teaching apparatus is that teaching apparatus is applied to the traction teaching of robot, and robot control device is straight
Scoop out the manipulation for robot.
And following technical scheme can be used in the control method of the teaching apparatus or robot control device:
Four handlebars be set as first-hand shank, the second-hand shank opposite with first-hand shank extending direction, with
The vertically extending third handlebar of first, second handlebar, fourth handlebar opposite with third handlebar extending direction；
The first-hand shank stretch out to one side of third handlebar and one side of the 4th handlebar respectively by
Corresponding switch button is pressed, a first traversing signal is exported；
Second-hand's shank is stretched out to another side of third handlebar and the 4th another side of handlebar point
Corresponding switch button is not pressed, exports a second traversing signal；
The third handlebar stretch out to one side of first-hand shank and one side of second-hand's shank respectively by
Corresponding switch button is pressed, the traversing signal of third is exported；
4th handlebar is stretched out to another side of first-hand shank and another side of second-hand's shank point
Corresponding switch button is not pressed, exports a 4th traversing signal；
The top surface that the handle is moved upward to four handlebars presses corresponding switch button respectively, exports one first
Vertical shift signal；
The bottom surface that the handle is moved downward to four handlebars presses corresponding switch button respectively, exports one second
Vertical shift signal；
The handle is clockwise to a side of first-hand shank, a side of second-hand's shank, third hand
One side of shank, a side of the 4th handlebar bear against corresponding switch button, export one first deflection letter
Number；
The handle is rotated counterclockwise to another side of first-hand shank, another side of second-hand's shank,
Another side of three handlebars, another side of the 4th handlebar bear against corresponding switch button, output one the
Two defection signals.
It is further:
The bottom surface that the first-hand shank turns to handlebar presses corresponding switch button, i.e. second-hand's shank simultaneously
Top surface presses corresponding switch button, exports a first rolling signal；
The top surface that the first-hand shank turns to first-hand shank presses corresponding switch button, i.e. second handle simultaneously
The bottom surface of bar presses corresponding switch button, exports a second rolling signal；
The bottom surface that the third handlebar turns to third handlebar presses corresponding switch button, i.e. the 4th handle simultaneously
The top surface of bar presses corresponding switch button, exports one first flexion-extension signal；
The top surface that the third handlebar turns to third handlebar presses corresponding switch button, i.e. the 4th handle simultaneously
The bottom surface of bar presses corresponding switch button, exports one second flexion-extension signal；
The control method is by being arranged different control signals consequently facilitating control signal is directly used in corresponding controlled machine
The signal of device people's actuating station controls output, and above-mentioned teaching apparatus or the simple structure design of robot control device can be made logical
It crosses the setting output of control signal and is achieved the due manipulation function to actuating station.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of teaching apparatus or robot control device of the present invention.
Fig. 2 is the top view of robot traction teaching inductor in the present invention.
Fig. 3 is the side view of robot traction teaching inductor, and shows the state being located in 3-D walls and floor.
Fig. 4 is the diagrammatic cross-section of robot traction teaching inductor.
Fig. 5 is the main view of posture retainer.
Fig. 6 is the side view of posture retainer.
Fig. 7 is the top view of posture retainer.
Fig. 8 is the structural schematic diagram of flexible machinery mouthpiece.
Specific embodiment
It is the either robot control device of teaching apparatus disclosed in the present embodiment shown in please referring to Fig.1 to Fig.4；Show
Only application is different for teaching device and control device, and principle is identical, in the present embodiment by taking teaching apparatus as an example.
The teaching apparatus includes robot traction teaching inductor 1, posture retainer 2, flexible machinery mouthpiece 3.But it should
, it is noted that the traction teaching inductor can be detached from posture retainer and flexible machinery mouthpiece is used alone and generates correspondence
Control signal.
Wherein traction teaching inductor 1 includes shell 11, the handle in shell, several switches 13, the handle packet
Four handlebars 12 are included, and " ten " font is collectively formed in four handlebars 12, each handle 12 includes top surface 14, bottom surface
15, first side 16, second side 17；The top surface 14 of each handle, bottom surface 15, first side 16, outside second side 17
Side is equipped with a corresponding switch 13.And the top surface 14 of each handle, bottom surface 15, first side 16, the difference of second side 17
It is resisted against on the button to inductive switch 13.
In the present embodiment, the switch is long microswitch of cheap and service life, when handle 12 is located at free shape
When state, handle 12 is positioned inside the shell by the button of several microswitches and handle 12 does not press any button.Shell
In in addition can also be equipped with auxiliary positioning handle several springs, when handle 12 is located at free state, spring can be by handle 12
It is located in the middle position of 11 thickness of shell and handle 12 is made not press any button.
The shell 11 includes four package shells for surrounding four handlebars respectively, and each package shell is equipped with
Roof 181, bottom wall 182, the first side wall 183, second sidewall 184.Switch 13, respectively institute there are four being set on each package shell
It states roof 181 and is equipped with a switch, the first side wall 183 equipped with switch, second equipped with a switch, bottom wall 182
Side wall 184 is equipped with a switch.The button of this four switches is located in package shell and against the intracorporal handle of package shell
On bar, which is equipped with the terminals (not labeled) being located at outside package shell to connect robot controller.
Wherein, control method proposed by the present invention can be thus achieved by the traction teaching inductor, for convenience of describing, institute
It states four handlebars and is set as first-hand shank 121, the second-hand shank 122 opposite with first-hand 121 extending direction of shank, with the
One, the vertically extending third handlebar 123 of second-hand's shank, fourth handlebar opposite with 123 extending direction of third handlebar
124.And it is presented in Fig. 3 the teaching inductor and is located at the state in triaxial coordinate figure to facilitate and understand.
The first-hand shank 121 stretch out (i.e. as the x in Fig. 4 is positive) to 123 1 sides of third handlebar with
4th side of handlebar 124 1 presses corresponding switch button respectively, exports a first traversing signal；
Second-hand's shank 122 stretches out (i.e. such as the x-axis negative sense in Fig. 4) to another side of third handlebar 123
Face presses corresponding switch button with the 4th another side of handlebar 124 respectively, exports a second traversing signal；
The third handlebar 123 stretches out (i.e. as the y-axis in Fig. 4 is positive) to 121 1 sides of first-hand shank
Corresponding switch button is pressed respectively with 122 1 sides of second-hand's shank, exports the traversing signal of third；
4th handlebar 124 stretches out (i.e. such as the y-axis negative sense in Fig. 4) to first-hand another side of shank 121
Face presses corresponding switch button with another side of second-hand's shank 122 respectively, exports a 4th traversing signal；
The handle move up pressed respectively (i.e. as the z-axis in Fig. 4 is positive) to the top surface of four handlebars it is corresponding
Switch button exports a first vertical shift signal；
The handle move down pressed respectively (i.e. such as the z-axis negative sense in Fig. 4) to the bottom surface of four handlebars it is corresponding
Switch button exports a second vertical shift signal；
The handle be clockwise to a side of first-hand shank 121, second-hand's shank 122 a side,
One side of third handlebar 123, a side of the 4th handlebar 124 bear against corresponding switch button, output one
A first defection signal；
The handle rotates counterclockwise another side of another side to first-hand shank 121, second-hand's shank 122
Face, another side of third handlebar 123, the 4th handlebar 124 another side bear against corresponding switch button,
Export second defection signal；
The bottom surface that the first-hand shank 121 turns to first-hand shank presses corresponding switch button, i.e., and simultaneously second
The top surface of handlebar 122 presses corresponding switch button, exports a first rolling signal；
The top surface that the first-hand shank 121 turns to first-hand shank presses corresponding switch button, i.e., and simultaneously second
The bottom surface of handlebar 122 presses corresponding switch button, exports a second rolling signal；
The bottom surface that the third handlebar 123 turns to third handlebar presses corresponding switch button, i.e., and the simultaneously the 4th
The top surface of handlebar 124 presses corresponding switch button, exports one first flexion-extension signal；
The top surface that the third handlebar 123 turns to third handlebar presses corresponding switch button, i.e., and the simultaneously the 4th
The bottom surface of handlebar 124 presses corresponding switch button, exports one second flexion-extension signal；
The first traversing signal, the second traversing signal, the traversing signal of third, the 4th traversing signal, the first vertical shift signal,
Second vertical shift signal, the first defection signal, the second defection signal, the first rolling signal, the second rolling signal, first pitch letter
Number, second pitch signal and control output to the corresponding signal by man-controlled mobile robot actuating station respectively.It specifically may be configured as: first
Traversing signal control is traversing to first direction by man-controlled mobile robot actuating station；Second traversing signal control by man-controlled mobile robot actuating station to
Second direction is traversing；And first direction and second direction are opposite direction；The traversing signal control of third is by man-controlled mobile robot actuating station
It is traversing to third direction；4th traversing signal control is traversing to fourth direction by man-controlled mobile robot actuating station；And third direction and
Four directions are opposite direction；And third direction and first direction perpendicular or orthogonal to；The control of first vertical shift signal is held by man-controlled mobile robot
The upward vertical shift in row end；Second vertical shift signal is controlled by the downward vertical shift of man-controlled mobile robot actuating station；First defection signal controls controlled machine
Device people's actuating station positive deflection, the control of the second defection signal are by man-controlled mobile robot actuating station reverse deflection；And first direction and second
Direction is opposite direction；The control of first rolling signal is controlled controlled by the rolling of man-controlled mobile robot actuating station forward direction, the second rolling signal
The reversed rolling of robot actuating station；And first direction and second direction are opposite direction；First, which pitches signal, controls controlled machine
People's actuating station forward direction pitches, the second flexion-extension signal control is reversely pitched by man-controlled mobile robot actuating station；And first direction and second party
To for opposite direction.
Incorporated by reference to shown in Fig. 5 to Fig. 7, the posture retainer 2 of carrying robot traction teaching inductor includes first motor
21, the second motor 22, third motor 23, the first support 24 for fixing first motor 21, the second support for fixing the second motor 22
25, the third bracket 26 of fixed third motor 23, and the output shaft of first motor 21, the output shaft of the second motor 22, third electricity
The output shaft of machine 23 is mutually orthogonal, and the output shaft of first motor 21 draws teaching inductor 1 with robot and connect and with movement machine
People draws teaching inductor 1 and rotates, and the output shaft of the second motor 22 connect with first support 24 and first support 24 is driven to rotate,
The output shaft of third motor 23 connect with second support 25 and second support 25 is driven to rotate.Posture retainer, which receives, comes from machine
The information of each cradle head of people's controller carries out the real-time attitude meter of position by robot pose operation method
It calculates, as the input signal of own controller, after own controller progress signal negates, to three in posture retainer
Motor is driven, so that the traction teaching inductor 1 of posture retainer front end keeps posture constant, so that artificial traction
When can keep traction be accustomed to, more meet ergonomics needs.
Also, incorporated by reference to shown in Fig. 8, wherein the flexible machinery mouthpiece 3 being fixed on third bracket 26 includes shaft 31, two
A obtuse-angulate sheet metal 32 of bending；The upper end of described two sheet metals 32 is articulated with shaft 31；The lower end of two sheet metals 32
It is connected by stud 33 and locking nut；Grasping part is formed between described two sheet metals, is equipped with bullet on the inside of sheet metal 32
Property pad 34.Two panels sheet metal can rotate around the shaft, and corresponding different robots retaining part adjusts clamper aperture.By flexible machine
Tool interface position after robot determines position, can tightening nut be clamped, complete the entire teaching apparatus of posture fixation.From
And the teaching apparatus can be installed and used flexibly, and versatility is improved.
In conclusion including the teaching apparatus or control device of robot traction teaching inductor, energy in the present embodiment
The feedback of teaching or draw operations, and simple in structure and low in cost are enough intuitively drawn to operator by structure design.
Compared with six-dimension force sensor, installation site limitation is few, and can substantially reduce cost.
Claims (9)
1. a kind of teaching apparatus including robot traction teaching inductor, robot draw teaching inductor, including shell, position
In handle, several switches in shell, the handle includes four handlebars, and " ten " font is collectively formed in four handlebars,
Each handlebar includes top surface, bottom surface, first side, second side；Top surface, the bottom surface, of each handlebar
A corresponding switch, and the top surface of each handlebar, bottom surface, first side, second are equipped on the outside of one side, second side
Side is born against on the button to inductive switch；
It is characterized by also including the posture retainer to carry robot traction teaching inductor, the posture retainers
Including first motor, the second motor, third motor, fixed first motor first support, fix the second motor second support,
The third bracket of fixed third motor, and the output shaft phase of the output shaft of first motor, the output shaft of the second motor, third motor
Mutually orthogonal, the output shaft of first motor draws teaching inductor with robot and connect and with mobile robot traction teaching inductor turn
Dynamic, the output shaft of the second motor connect with first support and first support is driven to rotate, the output shaft of third motor and second
Frame connects and second support is driven to rotate.
2. teaching apparatus according to claim 1, it is characterised in that: further include the flexible mechanical being fixed on third bracket
Interface；Flexible machinery mouthpiece includes shaft, two obtuse-angulate sheet metals of bending；The upper end of two sheet metals, which is articulated with, to be turned
Axis；The lower end of two sheet metals is connected by stud and locking nut；It is empty that clamping is formed between two sheet metals
Between.
3. teaching apparatus according to claim 1, it is characterised in that: the switch is microswitch, when handle is located at certainly
When by state, handle is positioned inside the shell by the button of several microswitches and handle does not press any button.
4. teaching apparatus according to claim 1, it is characterised in that: if being further provided with auxiliary positioning handle in shell
Dry spring, when handle is located at free state, handle is located in the middle position of outer casing thickness and presses handle not by spring
Any button.
5. teaching apparatus according to claim 1, it is characterised in that: the shell includes four and surrounds four handles respectively
The package shell of bar, each package shell are equipped with roof, bottom wall, the first side wall, second sidewall, on each package shell
If there are four switch, the respectively described roof is equipped with a switch, bottom wall is equipped with a switch, the first side wall is equipped with one
A switch, second sidewall are equipped with a switch；The button of this four switches is located in package shell and against the package shell
On interior handlebar, this four switches are equipped with the terminals being located at outside package shell to connect robot controller.
6. a kind of robot control device including robot traction teaching inductor, robot draw teaching inductor, including
Shell, the handle in shell, several switches, the handle includes four handlebars, and four handlebars are collectively formed
" ten " font, each handlebar include top surface, bottom surface, first side, second side；The top of each handlebar
Face, first side, is equipped with a corresponding switch on the outside of second side at bottom surface, and the top surface of each handlebar, bottom surface, the
One side, second side are born against on the button to inductive switch；
It is characterized by also including the posture retainer to carry robot traction teaching inductor, the posture retainers
Including first motor, the second motor, third motor, fixed first motor first support, fix the second motor second support,
The third bracket of fixed third motor, and the output shaft phase of the output shaft of first motor, the output shaft of the second motor, third motor
Mutually orthogonal, the output shaft of first motor draws teaching inductor with robot and connect and with mobile robot traction teaching inductor turn
Dynamic, the output shaft of the second motor connect with first support and first support is driven to rotate, the output shaft of third motor and second
Frame connects and second support is driven to rotate.
7. a kind of control method of robot control device described in teaching apparatus as claimed in claim 1 or 2 or claim 6,
It is characterized by: four handlebars be set as first-hand shank, the second-hand shank opposite with first-hand shank extending direction,
With the vertically extending third handlebar of the first, second handlebar, fourth handlebar opposite with third handlebar extending direction；
The first-hand shank is stretched out to one side of third handlebar and one side of the 4th handlebar and is pressed respectively pair
The switch button answered exports a first traversing signal；
Second-hand's shank stretch out to another side of third handlebar and the 4th another side of handlebar respectively by
Corresponding switch button is pressed, a second traversing signal is exported；
The third handlebar is stretched out to one side of first-hand shank and one side of second-hand's shank and is pressed respectively pair
The switch button answered exports the traversing signal of third；
4th handlebar stretch out to another side of first-hand shank and another side of second-hand's shank respectively by
Corresponding switch button is pressed, a 4th traversing signal is exported；
The top surface that the handle is moved upward to four handlebars presses corresponding switch button respectively, exports first vertical shift
Signal；
The bottom surface that the handle is moved downward to four handlebars presses corresponding switch button respectively, exports second vertical shift
Signal；
The handle is clockwise to a side of first-hand shank, a side of second-hand's shank, third handlebar
A side, the 4th handlebar a side bear against corresponding switch button, export first defection signal；
The handle is rotated counterclockwise to another side of first-hand shank, another side of second-hand's shank, third hand
Another side of shank, another side of the 4th handlebar bear against corresponding switch button, export one second partially
Rotaring signal；
The first traversing signal, the second traversing signal, the traversing signal of third, the 4th traversing signal, the first vertical shift signal, second
Vertical shift signal, the first defection signal, the second defection signal control output to the corresponding signal by man-controlled mobile robot actuating station respectively.
8. control method as claimed in claim 7, it is characterised in that: the first-hand shank turns to the bottom of first-hand shank
Face presses corresponding switch button, i.e., the top surface of second-hand's shank presses corresponding switch button simultaneously, exports one first rolling
Rotaring signal；
The top surface that the first-hand shank turns to first-hand shank presses corresponding switch button, i.e. second-hand's shank simultaneously
Bottom surface presses corresponding switch button, exports a second rolling signal；
The bottom surface that the third handlebar turns to third handlebar presses corresponding switch button, i.e. the 4th handlebar simultaneously
Top surface presses corresponding switch button, exports one first flexion-extension signal；
The top surface that the third handlebar turns to third handlebar presses corresponding switch button, i.e. the 4th handlebar simultaneously
Bottom surface presses corresponding switch button, exports one second flexion-extension signal；
First rolling signal, the second rolling signal, first pitch signal, the second flexion-extension signal equally respectively to corresponding controlled machine
The signal of device people's actuating station controls output.
9. control method as claimed in claim 8, it is characterised in that: the first traversing signal control by man-controlled mobile robot actuating station to
First direction is traversing；Second traversing signal control is traversing to second direction by man-controlled mobile robot actuating station；And first direction and second
Direction is opposite direction；
The traversing signal control of third is traversing to third direction by man-controlled mobile robot actuating station；4th traversing signal control is by man-controlled mobile robot
Actuating station is traversing to fourth direction；And third direction and fourth direction are opposite direction；And third direction is vertical with first direction
Or it is orthogonal；
First vertical shift signal is controlled by the upward vertical shift of man-controlled mobile robot actuating station；Second vertical shift signal is controlled by man-controlled mobile robot actuating station
Downward vertical shift；
The control of first defection signal is held by the rotation of man-controlled mobile robot actuating station positive deflection, the control of the second defection signal by man-controlled mobile robot
Row end reverse deflection；
Third pitches signal control and pitches signal control by man-controlled mobile robot actuating station by man-controlled mobile robot actuating station forward direction flexion-extension, the 4th
It is reversed to pitch；
The control of 5th rolling signal is by the rolling of man-controlled mobile robot actuating station forward direction, the control of the 6th rolling signal by man-controlled mobile robot actuating station
Reversed rolling.
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| CN109093599A (en) * | 2018-09-07 | 2018-12-28 | 中科新松有限公司 | A kind of crawl teaching method and system |
| CN109087343A (en) * | 2018-09-07 | 2018-12-25 | 中科新松有限公司 | A kind of generation method and system of workpiece grabbing template |
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| JPS60252911A (en) * | 1984-05-30 | 1985-12-13 | Hitachi Ltd | Robot containing operation key at its mobile part |
| DE3836003A1 (en) * | 1988-10-21 | 1990-04-26 | Wolfgang Prof Dr Ing Ziegler | Method and device for carrying out a force-controlled movement |
| CN103347662A (en) * | 2011-01-27 | 2013-10-09 | 松下电器产业株式会社 | Robot-arm control device and control method, robot, robot-arm control program, and integrated electronic circuit |
| JP5955556B2 (en) * | 2011-12-29 | 2016-07-20 | 株式会社ソニー・インタラクティブエンタテインメント | Operating element and operating device |
| CN105835073B (en) * | 2016-05-30 | 2018-02-02 | 哈工大机器人集团有限公司 | A kind of new teaching apparatus of industrial robot |
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